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Simulator of the szgh-b2300-e-4 robot
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Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Installation
3. Usage
4. License
5. Contact

About The Project

This project started from the need to quickly program a robot and test it in the environment without the need to program it by trial and error.

This project allows to quickly get the direct kinematics of the robot as well as the inverse kinematics, allowing to quickly program a robot and visualize it's performance. The robot was implemented in RViz as well as Gazebo. The last one allows to simulate the interaction of the robot with the environment, meaning that we can test the movements of the robot and the environment around.

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Built With

This code was developed with the help of ROS.

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Getting Started

Installation

First step is to clone the repository and install it's dependencies.

1. Clone the repo

   git clone https://github.com/andrefdre/Robot_szgh.git

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Usage

To use the code there is two options. As mentioned before the robot can be launched using RViz, which doesn't have a simulation environment, or Gazebo.

To run the code in gazebo run:

roslaunch robot_bringup robot_bringup.launch

To run the code in RViz run:

roslaunch robot_bringup robot_bringup_rviz.launch

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License

Distributed under the MIT License. See LICENSE.txt for more information.

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Contact

André Cardoso - linkedin - andrefdre@gmail.com

Project Link: https://github.com/andrefdre/Robot_szgh

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